CN108710371A - A kind of robot indoor positioning system and method for building figure using range laser scanning - Google Patents
A kind of robot indoor positioning system and method for building figure using range laser scanning Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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Abstract
The invention discloses a kind of robot indoor positioning system and methods for building figure using range laser scanning, in conjunction with the advantages of gyroscope navigation and 360 ° of laser radar scanning positioning methods, using at least one set of fixed range laser, the indoor positioning navigation of robot can be realized, it is low that than 360 ° laser radar scannings of product cost build figure mode, and be easily installed, the effect of indoor positioning navigation is navigated better than gyroscope, and the effect of figure is built close to 360 ° of laser radar scannings；Indoor navigation location technology suitable for Intelligent robot for sweeping floor.
Description
Technical field
It is specially a kind of that figure is built using range laser scanning the present invention relates to mobile robot angle correction technical field
Robot indoor positioning system and method.
Background technology
Robot indoor positioning, which builds figure, at present has the navigation of gyroscope indoor positioning and the positioning of 360 ° of laser radar scannings to lead
Boat mode.Using the indoor positioning mode of gyroscope, advantage is inexpensive, easy to install, the disadvantage is that due to wheel slip and time
Accumulated error, cause the appearance of map slowly to deviate and can not correct, eventually lead to positioning failure.360 ° of laser radar scannings
Mode positions figure mode of building, and advantage is that build figure success rate higher, map can be corrected in real time according to laser data, the disadvantage is that cost
Height, and to the more demanding of mold, laser radar is not easy to install, and due to movement rotary mechanism built in laser radar, it is easy damage
It is bad.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of robot chamber for building figure using range laser scanning is default
Position system and method, solve the problems, such as current mobile robot angle correction technology can not for a long time effectively or cost it is higher.
To achieve the above object, the present invention provides the following technical solutions：A kind of machine for building figure using range laser scanning
People's indoor locating system, including the MCU that is set in robot, the laser ranging module being connect with MCU, gyroscope, robot
Left and right road wheel；Laser ranging module is arranged in the robot at least one side, and is respectively equipped in robot or so road wheel
The odometer module being connect with MCU.
Coordinate is obtained in order to meet the I-shaped movement of mobile robot or more accurately scan flanking obstacle, it is described
Robot two sides are respectively provided with laser ranging module.
Laser ranging module is arranged in the coordinate after accurate robot movement, robot front face in order to obtain.
A kind of robot indoor orientation method for being built figure using range laser scanning, is included the following steps：
Step 1, booting establishes coordinate system by original coordinates of current point, and the laser ranging module of robot constantly measures barrier
Object distance, gyro module is hindered not to stop integral and calculating angle；
Step 2, robot changing coordinates, robot straight line moving or curvilinear rows are determined according to the distance of robot ambulation
It walks；
Specially robot straight line moving when, t1 moment, the coordinate of robot is (x1, y1, θ 1), and wherein θ 1 is robot
In the calculated angle of t1 moment gyro modules；The calculated angle of t2 moment gyroscopes is θ 2, according to robot left and right rows
Odometer module in driving wheel obtains robot of the t1 moment between the t2 moment and moves distance d, then the coordinate at t2 moment
(x2, y2, θ 2), and calculation formula is as follows：X2=x1+d*cos (θ 2), y2=y1+d*sin (θ 2)；If robot curve is walked,
Curved path walking be by the integral process of each short distance straight line moving, only need to be by the Process Integral of multiple short distance straight line movings
It can be obtained the robot changing coordinates of curved path walking；
Step 3, according to the robot current angular coordinate obtained in step 2, robot side laser ranging module measures
With the radius R of angle theta r, robot immediately ahead of barrier distance dr, laser ranging module and robot, obstacle is calculated
The coordinate (xr, yr) of object；And in next movement acquired disturbance object curvilinear function；
Specifically calculation formula is：Current robot coordinate is (x2, y2), and current angular is θ 2,
Xr=x2+ (R+dr) * cos (θ 2+ θ r)
Yr=y2+ (R+dr) * sin (θ 2+ θ r)
Step 4, robot during moving the T1 times according to the set of the calculated barrier of third step (xr1,
Yr1), (xr2, yr2), (xr3, yr3) ... }, obtain the curvilinear function y=f (x) of barrier；Robot is moved in the T2 times
Constantly scanning barrier obtains barrier curvilinear function y=f2 (x) also according to third step in the process；
The T2 times, if robot returns near the barrier y=f (x) that the T1 moment scans, and robot with barrier
Hinder the distance of object y=f (x) in the finding range of laser, then the barrier curve y=f2 (x) and y=f (x) at T2 moment may
For same barrier, curve matching is done to curve y=f2 (x) and y=f (x) by least square method, if curve matching at
Work(is then same barrier, can calculate the deviation of curve y=f2 (x) and curve y=f (x), which is robot T2
The deviation of moment coordinate and T1 moment coordinates, you can the coordinate for correcting the robot T2 moment can also calculate barrier curve
Rotation angle, to correct T2 moment gyro datas.
Preferably, the motion mode of robot is to move horizontally in the step 4.
Preferably, the movement of robot is to rotate in place in the step 4；The coordinate (x, y) of fuselage does not become at this time
Change, but angle, θ generates variation, laser ranging module can calculate the obstacle article coordinate scanned according to third step, obtain obstacle
The coordinate curve function of object, by step 4, time T1, the movement of T2 are equally carried out curve fitting with least square method and are sentenced twice
It is disconnected, and correct coordinate and gyro data.
Further, in the laser ranging module of only one side, the robot is using bow word track route：
T1 time straight line movings, encounter barrier, and Y axis coordinate moves a certain distance, and then turn around 180, then straight line moving, encounters obstacle
Object, Y axis coordinate move a certain distance, then the T2 times turn around 180, then straight line moving, the straight trip routes of T2 times and T1's is straight
Walking along the street line is two parallel lines, and just near the T1 times keep straight on, and is more had according to step 3,4 curve matching correction algorithms
Effect, can more play the correction precision of the algorithm.
Preferably, the robot both sides are respectively provided with laser ranging module.
Further, there is laser ranging module in two sides, the robot is using bow word track route：T1
Time straight line moving encounters barrier, and Y axis coordinate moves a certain distance, then the T2 times turn around 180, then straight line moving, when T2
Between straight trip route and the straight trip route of T1 be two parallel lines, and just near the T1 times keep straight on, according to step 3,4 curves
It is more effective to be fitted correction algorithm, can more play the correction precision of the algorithm；
Preferably, face is equipped with laser ranging module immediately ahead of the robot, in step 2, robot is in linear rows
When walking, the laser ranging module in front measures the distance of front barrier, and odometer is corrected by the variation of distance
Data obtain accurate current robot coordinate；
Algorithm is as follows：The distance that the t1 times measure barrier is s1；T2 times, the distance for measuring barrier are s2,
The distance that t1 to t2 moment odometers measure is d；Then distance d21=d* (1-k)+(s1- of t1 to t2 moment robots movement
s2)*k；Wherein k is the degree of belief of laser ranging module calculated value, between value 0~1；1 shows 100% trust laser ranging mould
Block, 0 indicates to distrust range finder module；The value of k can be according to the filtering algorithms knot such as Kalman filtering algorithm or second-order filter algorithm
It closes other sensors data and calculates optimal value.
Beneficial effects of the present invention：In conjunction with the advantages of gyroscope navigation and 360 ° of laser radar scanning positioning methods, use
At least one set of fixed range laser, you can realize that the indoor positioning navigation of robot, than 360 ° laser radars of product cost are swept
It retouches that build figure mode low, and is easily installed, the effect of indoor positioning navigation is better than gyroscope navigation, close to 360 ° of laser radar scannings
Build the effect of figure；Indoor navigation location technology suitable for Intelligent robot for sweeping floor.
Description of the drawings
Fig. 1 is the control principle drawing of the present invention.
Fig. 2 is the state diagram of the present invention.
Fig. 3 is the flow chart of the present invention.
Fig. 4 is the state diagram of the embodiment 2 of invention.
Specific implementation mode
Embodiment 1
As shown in Figure 1, 2, 3, a kind of that the robot indoor locating system of figure is built using range laser scanning, including be set to
MCU in robot, the laser ranging module being connect with MCU, gyroscope, robot or so road wheel；The robot is at least
Laser ranging module is arranged in one side, and the odometer module being connect with MCU is respectively equipped in robot or so road wheel；It is described
Laser ranging module is arranged in face immediately ahead of robot.
4. a kind of robot indoor orientation method for building figure using range laser scanning, which is characterized in that including following step
Suddenly：
Step 1, booting establishes coordinate system by original coordinates of current point, and the laser ranging module of robot constantly measures barrier
Object distance, gyro module is hindered not to stop integral and calculating angle；
Step 2, robot changing coordinates, robot straight line moving or curvilinear rows are determined according to the distance of robot ambulation
It walks；
Specially robot straight line moving when, t1 moment, the coordinate of robot is (x1, y1, θ 1), and wherein θ 1 is robot
In the calculated angle of t1 moment gyro modules；The calculated angle of t2 moment gyroscopes is θ 2, according to robot left and right rows
Odometer module in driving wheel obtains robot of the t1 moment between the t2 moment and moves distance d, then the coordinate at t2 moment
(x2, y2, θ 2), and calculation formula is as follows：X2=x1+d*cos (θ 2), y2=y1+d*sin (θ 2)；If robot curve is walked,
Curved path walking be by the integral process of each short distance straight line moving, only need to be by the Process Integral of multiple short distance straight line movings
It can be obtained the robot changing coordinates of curved path walking；
Step 3, according to the robot current angular coordinate obtained in step 2, robot side laser ranging module measures
With the radius R of angle theta r, robot immediately ahead of barrier distance dr, laser ranging module and robot, obstacle is calculated
The coordinate (xr, yr) of object；And in next movement acquired disturbance object curvilinear function；
Specifically calculation formula is：Current robot coordinate is (x2, y2), and current angular is θ 2,
Xr=x2+ (R+dr) * cos (θ 2+ θ r)
Yr=y2+ (R+dr) * sin (θ 2+ θ r)
Step 4, robot during moving the T1 times according to the set of the calculated barrier of third step (xr1,
Yr1), (xr2, yr2), (xr3, yr3) ... }, obtain the curvilinear function y=f (x) of barrier；Robot is moved in the T2 times
Constantly scanning barrier obtains barrier curvilinear function y=f2 (x) also according to third step in the process；
The T2 times, if robot returns near the barrier y=f (x) that the T1 moment scans, and robot with barrier
Hinder the distance of object y=f (x) in the finding range of laser, then the barrier curve y=f2 (x) and y=f (x) at T2 moment may
For same barrier, curve matching is done to curve y=f2 (x) and y=f (x) by least square method, if curve matching at
Work(is then same barrier, can calculate the deviation of curve y=f2 (x) and curve y=f (x), which is robot T2
The deviation of moment coordinate and T1 moment coordinates, you can the coordinate for correcting the robot T2 moment can also calculate barrier curve
Rotation angle, to correct T2 moment gyro datas.
The motion mode of robot is to move horizontally in the step 4；Using bow word track route：T1 time linear rows
It walks, encounters barrier, Y axis coordinate moves a certain distance, and then turn around 180, then straight line moving, encounters barrier, and Y axis coordinate is moved
Dynamic certain distance, then the T2 times turn around 180, then straight line moving, the straight trip route of T2 times and the straight trip route of T1 are two
Parallel lines, and just near the T1 times keep straight on, it is more effective according to step 3,4 curve matching correction algorithms, it can more play this
The correction precision of algorithm.
Face is equipped with laser ranging module immediately ahead of the robot, in step 2, robot when straight line moving,
The laser ranging module in front measures the distance of front barrier, and the data of odometer are corrected by the variation of distance, are obtained
Accurate current robot coordinate；
Algorithm is as follows：The distance that the t1 times measure barrier is s1；T2 times, the distance for measuring barrier are s2,
The distance that t1 to t2 moment odometers measure is d；Then distance d21=d* (1-k)+(s1- of t1 to t2 moment robots movement
s2)*k；Wherein k is the degree of belief of laser ranging module calculated value, between value 0~1；1 shows 100% trust laser ranging mould
Block, 0 indicates to distrust range finder module；The value of k can be according to the filtering algorithms knot such as Kalman filtering algorithm or second-order filter algorithm
It closes other sensors data and calculates optimal value.
Embodiment 2
As shown in Figure 1,2,3, 4, a kind of robot indoor locating system for building figure using range laser scanning, including setting
In the MCU in robot, the laser ranging module being connect with MCU, gyroscope, robot or so road wheel；The robot is extremely
Laser ranging module is arranged in few one side, and the odometer module being connect with MCU is respectively equipped in robot or so road wheel；Institute
It states robot two sides and is respectively provided with laser ranging module；Laser ranging module is arranged in face immediately ahead of the robot.
A kind of robot indoor orientation method for being built figure using range laser scanning, is included the following steps：
Step 1, booting establishes coordinate system by original coordinates of current point, and the laser ranging module of robot constantly measures barrier
Object distance, gyro module is hindered not to stop integral and calculating angle；
Step 2, robot changing coordinates, robot straight line moving or curvilinear rows are determined according to the distance of robot ambulation
It walks；
Specially robot straight line moving when, t1 moment, the coordinate of robot is (x1, y1, θ 1), and wherein θ 1 is robot
In the calculated angle of t1 moment gyro modules；The calculated angle of t2 moment gyroscopes is θ 2, according to robot left and right rows
Odometer module in driving wheel obtains robot of the t1 moment between the t2 moment and moves distance d, then the coordinate at t2 moment
(x2, y2, θ 2), and calculation formula is as follows：X2=x1+d*cos (θ 2), y2=y1+d*sin (θ 2)；If robot curve is walked,
Curved path walking be by the integral process of each short distance straight line moving, only need to be by the Process Integral of multiple short distance straight line movings
It can be obtained the robot changing coordinates of curved path walking；
Step 3, according to the robot current angular coordinate obtained in step 2, robot side laser ranging module measures
With the radius R of angle theta r, robot immediately ahead of barrier distance dr, laser ranging module and robot, obstacle is calculated
The coordinate (xr, yr) of object；And in next movement acquired disturbance object curvilinear function；
Specifically calculation formula is：Current robot coordinate is (x2, y2), and current angular is θ 2,
Xr=x2+ (R+dr) * cos (θ 2+ θ r)
Yr=y2+ (R+dr) * sin (θ 2+ θ r)
Step 4, robot during moving the T1 times according to the set of the calculated barrier of third step (xr1,
Yr1), (xr2, yr2), (xr3, yr3) ... }, obtain the curvilinear function y=f (x) of barrier；Robot is moved in the T2 times
Constantly scanning barrier obtains barrier curvilinear function y=f2 (x) also according to third step in the process；
The T2 times, if robot returns near the barrier y=f (x) that the T1 moment scans, and robot with barrier
Hinder the distance of object y=f (x) in the finding range of laser, then the barrier curve y=f2 (x) and y=f (x) at T2 moment may
For same barrier, curve matching is done to curve y=f2 (x) and y=f (x) by least square method, if curve matching at
Work(is then same barrier, can calculate the deviation of curve y=f2 (x) and curve y=f (x), which is robot T2
The deviation of moment coordinate and T1 moment coordinates, you can the coordinate for correcting the robot T2 moment can also calculate barrier curve
Rotation angle, to correct T2 moment gyro datas.
The motion mode of robot is to move horizontally in the step 4；The robot both sides are respectively provided with laser ranging mould
Block；Using bow word track route：T1 time straight line movings, encounter barrier, and Y axis coordinate moves a certain distance, then the T2 times
Turn around 180, then straight line moving, and the straight trip route of T2 times and the straight trip route of T1 are two parallel lines, and just straight in the T1 times
It is more effective according to step 3,4 curve matching correction algorithms near row, it can more play the correction precision of the algorithm.
Face is equipped with laser ranging module immediately ahead of the robot, in step 2, robot when straight line moving,
The laser ranging module in front measures the distance of front barrier, and the data of odometer are corrected by the variation of distance, are obtained
Accurate current robot coordinate；
Algorithm is as follows：The distance that the t1 times measure barrier is s1；T2 times, the distance for measuring barrier are s2,
The distance that t1 to t2 moment odometers measure is d；Then distance d21=d* (1-k)+(s1- of t1 to t2 moment robots movement
s2)*k；Wherein k is the degree of belief of laser ranging module calculated value, between value 0~1；1 shows 100% trust laser ranging mould
Block, 0 indicates to distrust range finder module；The value of k can be according to the filtering algorithms knot such as Kalman filtering algorithm or second-order filter algorithm
It closes other sensors data and calculates optimal value.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of building the robot indoor locating system of figure using range laser scanning, including the MCU being set in robot, with
The laser ranging modules of MCU connections, gyroscope, robot or so road wheel；It is characterized in that, the robot at least one side
Laser ranging module is set, and is respectively equipped with the odometer module being connect with MCU in robot or so road wheel.
2. a kind of robot indoor locating system for being built figure using range laser scanning, feature are existed according to claim 1
In the robot two sides are respectively provided with laser ranging module.
3. a kind of robot indoor locating system for building figure using range laser scanning according to claim 1 or claim 2, feature
It is, laser ranging module is arranged in face immediately ahead of the robot.
4. a kind of robot indoor orientation method for building figure using range laser scanning, which is characterized in that include the following steps：
Step 1, booting establishes coordinate system by original coordinates of current point, and the laser ranging module of robot constantly measures barrier
Distance, gyro module do not stop integral and calculating angle；
Step 2, robot changing coordinates, robot straight line moving or curved path walking are determined according to the distance of robot ambulation；
Specially robot straight line moving when, t1 moment, the coordinate of robot is (x1, y1, θ 1), and wherein θ 1 is robot in t1
The calculated angle of moment gyro module；The calculated angle of t2 moment gyroscopes is θ 2, according to robot or so road wheel
Interior odometer module obtains robot of the t1 moment between the t2 moment and moves distance d, then the t2 moment coordinate (x2, y2,
θ 2), and calculation formula is as follows：X2=x1+d*cos (θ 2), y2=y1+d*sin (θ 2)；If robot curve is walked, curvilinear rows
Walk is that the Process Integral of multiple short distance straight line movings need to can only be obtained the integral process of each short distance straight line moving to
To the robot changing coordinates of curved path walking；
Step 3, according to the robot current angular coordinate obtained in step 2, robot side laser ranging module measures and hinders
Hinder angle theta r immediately ahead of distance dr, laser ranging module and the robot of object, robot radius R, calculate barrier
Coordinate (xr, yr)；And in next movement acquired disturbance object curvilinear function；
Specifically calculation formula is：Current robot coordinate is (x2, y2), and current angular is θ 2,
X r=x2+ (R+dr) * cos (θ 2+ θ r)
Y r=y2+ (R+dr) * sin (θ 2+ θ r)
Step 4, robot during moving the T1 times according to the set of the calculated barrier of third step (xr1,
Yr1), (xr2, yr2), (xr3, yr3) ... }, obtain the curvilinear function y=f (x) of barrier；Robot is moved in the T2 times
Constantly scanning barrier obtains barrier curvilinear function y=f2 (x) also according to third step in the process；
The T2 times, if robot returns near the barrier y=f (x) that the T1 moment scans, and robot and barrier
The distance of y=f (x) is in the finding range of laser, then the barrier curve y=f2 (x) and y=f (x) at T2 moment may be same
One barrier does curve matching by least square method to curve y=f2 (x) and y=f (x), if curve matching success,
For same barrier, the deviation of curve y=f2 (x) and curve y=f (x) can be calculated, which is to sit at the robot T2 moment
The deviation of mark and T1 moment coordinates, you can the coordinate for correcting the robot T2 moment can also calculate the rotation angle of barrier curve
Degree, to correct T2 moment gyro datas.
5. a kind of robot indoor orientation method for being built figure using range laser scanning, feature are existed according to claim 4
In the motion mode of robot is to move horizontally in the step 4.
6. a kind of robot indoor orientation method for being built figure using range laser scanning, feature are existed according to claim 4
In the movement of robot is to rotate in place in the step 4.
7. a kind of robot indoor orientation method for being built figure using range laser scanning, feature are existed according to claim 5
In the robot is using bow word track route.
8. a kind of robot indoor orientation method for being built figure using range laser scanning, feature are existed according to claim 5
In the robot both sides are respectively provided with laser ranging module.
9. a kind of robot indoor orientation method for being built figure using range laser scanning, feature are existed according to claim 8
In the robot is using bow word track route.
10. according to a kind of indoor positioning side of robot building figure using range laser scanning of claim 4 or 7 or 8 or 9
Method, which is characterized in that face is equipped with laser ranging module immediately ahead of the robot, and in step 2, robot is in straight line moving
When, the laser ranging module in front measures the distance of front barrier, and the data of odometer are corrected by the variation of distance,
Obtain accurate current robot coordinate；
Algorithm is as follows：The distance that the t1 times measure barrier is s1；The t2 times, the distance for measuring barrier is s2, and t1 is arrived
The distance that t2 moment odometers measure is d；Then distance d21=d* (1-k)+(s1-s2) * of t1 to t2 moment robots movement
k；Wherein k is the degree of belief of laser ranging module calculated value, between value 0~1；1 shows 100% trust laser ranging module, 0 table
Show distrust range finder module；The value of k can combine other according to the filtering algorithms such as Kalman filtering algorithm or second-order filter algorithm
Sensing data calculates optimal value.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109916411A (en) * | 2019-03-29 | 2019-06-21 | 韦云智 | A kind of method of the indoor positioning navigation of robot |
| CN110216678A (en) * | 2019-06-25 | 2019-09-10 | 韦云智 | A kind of method of the indoor positioning navigation of robot |
| WO2021023036A1 (en) * | 2019-08-04 | 2021-02-11 | 于毅欣 | Peripheral barrier detection method and device based on structured light sensors |
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